// Copyright (c) 2008, Willow Garage, Inc.
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#pragma once

#include <rclcpp/rclcpp.hpp>
#include <image_transport/image_transport.hpp>
#include <sensor_msgs/image_encodings.hpp>
#include <image_geometry/pinhole_camera_model.h>
#include <sensor_msgs/point_cloud2_iterator.hpp>
#include <memory>
#include "depth_traits.h"
#include "astra_camera/utils.h"
#include "astra_camera/dynamic_params.h"

namespace astra_camera {

namespace enc = sensor_msgs::image_encodings;

class PointCloudXyzNode {
 public:
  explicit PointCloudXyzNode(rclcpp::Node* const node, std::shared_ptr<Parameters> parameters);

  template <typename T>
  static void convertDepth(const sensor_msgs::msg::Image::ConstSharedPtr& depth_msg,
                           sensor_msgs::msg::PointCloud2::SharedPtr& cloud_msg,
                           const image_geometry::PinholeCameraModel& model, double range_max = 0.0);

 private:
  using PointCloud2 = sensor_msgs::msg::PointCloud2;
  using Image = sensor_msgs::msg::Image;
  using CameraInfo = sensor_msgs::msg::CameraInfo;
  rclcpp::Node* const node_;
  std::shared_ptr<Parameters> parameters_;
  rclcpp::Logger logger_ = rclcpp::get_logger("PointCloudXyzNode");
  // Subscriptions
  image_transport::CameraSubscriber sub_depth_;
  int queue_size_ = 5;
  rmw_qos_profile_t point_cloud_qos_profile_ = rmw_qos_profile_sensor_data;
  rmw_qos_profile_t depth_qos_profile_ = rmw_qos_profile_sensor_data;

  // Publications
  std::mutex connect_mutex_;
  rclcpp::Publisher<PointCloud2>::SharedPtr pub_point_cloud_;

  image_geometry::PinholeCameraModel model_;

  void connectCb();

  void depthCb(const Image::ConstSharedPtr& depth_msg, const CameraInfo::ConstSharedPtr& info_msg);
};

}  // namespace astra_camera
